# Minimizing Turns in Watchman Robot Navigation: Strategies and Solutions

arXiv: https://arxiv.org/abs/2308.10090 · HTML: https://mlsanity.com/paper/2308.10090/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 24 references that are in the map.
- First posted on arXiv 19 Aug 2023.

## Builds on (most cited first, 8 of 8)

- [On r-Guarding Thin Orthogonal Polygons](https://mlsanity.com/paper/1604.07100/) (2016)
- [Geometric Embedding of Path and Cycle Graphs in Pseudo-convex Polygons](https://mlsanity.com/paper/1708.01457/) (2017)
- [A Linear-time Algorithm for Orthogonal Watchman Route Problem with Minimum Bends](https://mlsanity.com/paper/1708.01461/) (2017)
- [Guarding Path Polygons with Orthogonal Visibility](https://mlsanity.com/paper/1709.01569/) (2017)
- [Special Guards in Chromatic Art Gallery](https://mlsanity.com/paper/1709.02996/) (2017)
- [A New Optimal Algorithm for Computing the Visibility Area of a simple Polygon from a Viewpoint](https://mlsanity.com/paper/1803.10184/) (2018)
- [Target Defense against Sequentially Arriving Intruders](https://mlsanity.com/paper/2212.06628/) (2022)
- [Target Defense against Periodically Arriving Intruders](https://mlsanity.com/paper/2303.05577/) (2023)

## Abstract (arXiv)

The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the environment remains visible from at least one point on the route, allowing the robot to survey the entire area in a single, continuous sweep. This research places particular emphasis on reducing the number of turns in the route, as it is crucial for optimizing navigation in watchman routes within the field of robotics. The cost associated with changing direction is of significant importance, especially for specific types of robots. This paper introduces an efficient linear-time algorithm for solving the OWRP under the assumption that the environment is monotone. The findings of this study contribute to the progress of robotic systems by enabling the design of more streamlined patrol robots. These robots are capable of efficiently navigating complex environments while minimizing the number of turns. This advancement enhances their coverage and surveillance capabilities, making them highly effective in various real-world applications.